You can also have a look at so called "Darren's Modification"
http://projects.gbdt.com.au/eq6-1/
I did it and it works very well.
Of course, there is some room for improvement.. like faster slewing. Source code is available so somebody could try :-) Apart from this, it is "ideal"
modification.
Also, you can have a look PicGoTo project (less popular in English-speaking part of the world), but VERY well known elswhere:
http://sites.google.com/site/picgoto/english-manual